Design And Implementation Of Multi-dimensional Force Sensor For Robot

The industrial robot manipulator is the actuator on the automated production line.With the demands of industrialization,manipulators need to more accurately control the force/torque applied to the end effector.The multi-dimensional force sensor is assembled on the wrist of the robotic arm to assist the robot in sensing force information during the work process.Multi-dimensional force sensor is a key component in the process of robot intelligence.According to the actual working conditions of the robot,this paper proposes the design index of the sensor.And according to the research and development steps,the whole process of designing and realizing the sensor is introduced,including elastomer simulation,mechanical structure design,hardware circuit,software driver,sensor calibration device,and decoupling algorithm.In this paper,in the design of the sensor's sensitive head,a strain gauge pressure device for the small cross beam elastic body is designed.Improve the yield of the strain gauge patch.At the same time,in the strain gauge group bridge,a PCB group bridge board is designed to reduce the difficulty of strain gage patching in a small area.In the hardware circuit,this article uses a highly integrated ADCs chip to replace the traditional multi-stage opamp transmitter design and independent ADC chip.Due to the reduction of the circuit board area,this article embeds the MPU6050 attitude sensor inside the sensor to realize the attitude perception of the robot end-effector,thereby compensating the influence of gravity on the force perception information of the multidimensional force sensor when the angle of the actuator workpiece changes.Provide new solutions.In use,this article integrates the MCU and CAN communication inside the sensor body to achieve decoupling and digital transmission of the sensor line.The connection with the external host is only the power line and the CAN communication bus.It conforms to the development trend of modern sensor digitization,modularization,and integration.Finally,the multi-dimensional force sensor designed and implemented in this paper is tested and meets the requirements of technical indicators.